CN108257417A - For the vehicle collision prewarning method and device of roadside unit - Google Patents
For the vehicle collision prewarning method and device of roadside unit Download PDFInfo
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- CN108257417A CN108257417A CN201611236383.8A CN201611236383A CN108257417A CN 108257417 A CN108257417 A CN 108257417A CN 201611236383 A CN201611236383 A CN 201611236383A CN 108257417 A CN108257417 A CN 108257417A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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Abstract
A kind of vehicle collision prewarning method and device for roadside unit, the roadside unit are set at unsignalized intersection, the method includes：The information of vehicles of first object vehicle and the second target vehicle is obtained, the information of vehicles includes current position coordinates and current motion state information；Judge that the first object vehicle and second target vehicle whether there is potential position of collision according to the information of vehicles；When there are during the potential position of collision, the running time that the first object vehicle and the second target vehicle arrival potential position of collision are calculated according to the information of vehicles of the first object vehicle and the second target vehicle is poor；When the running time absolute value of the difference is less than or equal to threshold time, warning information is sent out to the first object vehicle and/or second target vehicle.Whether said program can be predicted and collide from different directions vehicle at unsignalized intersection, so as to be taken measures in time with the safety for improving driving.
Description
Technical field
The present invention relates to technical field of vehicle safety more particularly to a kind of vehicle collision prewarning methods for roadside unit
And device.
Background technology
It is continuously increased with the usage amount of automobile, the safety problem of automobile is also increasingly taken seriously, and vehicle therein touches
It hits early warning problem and receives research.In practical applications, driver's field of vision blind area, driver attention do not concentrate or weather and environment
The reasons such as bad, may all cause the danger of vehicle collision.
Unsignalized intersection is the intersection type that traffic flow conflict contradiction is most concentrated, since unsignalized intersection shortage must
The traffic sign and graticule wanted, road conditions are poor, and false judgment or misoperation are easily made when driver passes through intersection,
So as to which there are security risks.Therefore, it is necessary to a kind of real-time anti-collision warning mechanism driver to be assisted to understand no letter in advance
The unsafe condition of number intersection so as to take measures to avoid the generation of actual collision, promotes the safety of driving.
Invention content
The technical problem to be solved by the present invention is to provide a kind of vehicle collision prewarning method and device for roadside unit, in advance
It surveys whether unsignalized intersection collides from different directions vehicle, the safety driven a vehicle is improved so as to take measures in time
Property.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of vehicle collision prewarning side for roadside unit
Method, the roadside unit are set at unsignalized intersection, the method includes：
The information of vehicles of first object vehicle and the second target vehicle is obtained, the information of vehicles includes current position coordinates
With current motion state information；
Judge that the first object vehicle and second target vehicle are touched with the presence or absence of potential according to the information of vehicles
Hit position；
When there are during the potential position of collision, according to the first object vehicle and the information of vehicles of the second target vehicle
The running time for calculating the first object vehicle and the second target vehicle arrival potential position of collision is poor；
When the running time absolute value of the difference is less than or equal to threshold time, to the first object vehicle and/or
Second target vehicle sends out warning information.
Optionally, it is described to judge whether are the first object vehicle and second target vehicle according to the information of vehicles
There are potential position of collision to include：
According to the current position coordinates and the current motion state information, calculate obtain the first object vehicle respectively
And second target vehicle 4 angle points of vehicle body position coordinates, wherein, 4 angle points for vehicle body front left, front right,
The vehicle body corner apex in rear left and rear right direction；
Judged whether according to the position coordinates of the first object vehicle and 4 angle points of vehicle body of second target vehicle
There are potential position of collision.
Optionally, the current motion state information includes following one or more：
Current vehicle speed, current acceleration and current course angle.
Optionally, the threshold time is 2~4s.
Optionally, it is described according to the current position coordinates and the current motion state information, it calculates obtain institute respectively
The position coordinates of 4 angle points of vehicle body of first object vehicle and second target vehicle are stated, including：
According to the current position coordinates and the current motion state information calculate respectively the first object vehicle and
The center-of-mass coordinate of second target vehicle；
According to the first object vehicle and center-of-mass coordinate, vehicle body length and the width of the second target vehicle, calculate respectively described in
The position coordinates of 4 angle points of vehicle body of first object vehicle and second target vehicle.
Optionally, it is described according to the center-of-mass coordinate of the first object vehicle and second target vehicle, vehicle body length and
Width calculates the position coordinates of 4 angle points of vehicle body of the first object vehicle and second target vehicle respectively, including：
Use formulaThe position coordinates of the angle point are calculated, wherein, Znm
=(xnm,ynm) representing position coordinates of the identification number for m-th of angle point of the vehicle of n, m is 1 to 4 natural number, corresponds to table respectively
Show the front left of vehicle body, front right, rear left and rear right direction angle point,WhereinRepresent that identification number is
The course angle of the vehicle of n, K1=[L-W]T, K2=[L W]T, K3=[- L W]T, K4=[- L-W]T, L is the length of vehicle body, W is
The width of vehicle body, (xn0,yn0) it is the center-of-mass coordinate.
Optionally, the center-of-mass coordinate is obtained according to below equation：
Wherein, center-of-mass coordinate during x (t) and y (t) expressions time t, x (0) and y (0) are represented in the current position coordinates
Under center-of-mass coordinate, v (0), a (0) andCurrent vehicle speed, current acceleration and current course angle are represented respectively.
Optionally, it is described according to the first object vehicle and the Angle Position at 4 angles of vehicle body of second target vehicle
Coordinate judges whether potential position of collision, including：
Work as satisfactionWhen, judgement exists
The potential position of collision, wherein, x2mAnd y2mRepresent the position coordinates of m-th of angle point of second target vehicle, m for 1 to
4 natural number, represent respectively the front left of vehicle body, front right, rear left and rear right direction angle point；Represent the first object
The of vehicleThe position coordinates of a angle point,For 1 to 4 natural number, front left, front right, the rear left and rear right of vehicle body are represented respectively
The angle point in direction, x1h, y1hRepresent the position coordinates of h-th of angle point of the first object vehicle, ifOrThen h=
2 or h=4, ifOrThen h=1 or h=3.
Optionally, it when sending out warning information to the first object vehicle and/or second target vehicle, also provides and builds
Discuss speed.
Optionally, described provide suggests speed, including：
According to predefined priority rule, the first object vehicle is preferential with second target vehicle
Grade；
Suggestion deceleration, and root are sent out to the relatively low first object vehicle of priority or second target vehicle
It is calculated according to the threshold time and suggests speed.
The embodiment of the present invention also provides a kind of vehicle collision prewarning device for roadside unit, the roadside unit setting
At unsignalized intersection, described device includes：
Acquiring unit, obtains the information of vehicles of first object vehicle and the second target vehicle, and the information of vehicles includes working as
Front position coordinate and current motion state information；
Judging unit, suitable for judging whether the first object vehicle and the second target vehicle are deposited according to the information of vehicles
In potential position of collision；
Running time difference computing unit, suitable for when there are during the potential position of collision, according to the first object vehicle
Calculate that the first object vehicle and second target vehicle arrival are described potential to touch with the information of vehicles of the second target vehicle
The running time for hitting position is poor；
Prewarning unit, suitable for when the running time absolute value of the difference be less than or equal to threshold time when, to described first
Target vehicle and/or second target vehicle send out warning information.
Optionally, the judging unit includes：Angular coordinate computing unit and the first judgment sub-unit；
The angular coordinate computing unit, suitable for according to the current position coordinates and the current motion state information,
The position coordinates for 4 angle points of vehicle body for obtaining the first object vehicle and second target vehicle are calculated respectively, wherein, institute
State 4 angle points for vehicle body front left, front right, rear left and rear right direction vehicle body corner apex；
First judgment sub-unit, suitable for the vehicle body 4 according to the first object vehicle and second target vehicle
The position coordinates of a angle point judge whether potential position of collision.
Optionally, the current motion state information includes following one or more：
Current vehicle speed, current acceleration and current course angle.
Optionally, the threshold time is 2~4s.
Optionally, the angular coordinate computing unit includes：
Center-of-mass coordinate computation subunit, suitable for calculating the matter of the first object vehicle and second target vehicle respectively
Heart coordinate；
Angular coordinate computation subunit, suitable for according to the center-of-mass coordinate, the first object vehicle and/or the second target
The vehicle body length and width of vehicle calculate the position of 4 angle points of vehicle body of the first object vehicle and/or second target vehicle
Coordinate.
Optionally, the angular coordinate computation subunit uses formula
The position coordinates of the angle point are calculated, wherein, Znm=(xnm,ynm) represent the position coordinates of m-th of angle point that number is n, m 1
To 4 natural number, respectively the corresponding front left for representing vehicle body, front right, rear left and rear right direction angle point, Represent the course angle for the vehicle that identification number is n, K1=[L-W]T, K2=[L W]T, K3=[-
L W]T, K4=[- L-W]T, L is the length of vehicle body, W is vehicle body width, (xn0,yn0) it is the center-of-mass coordinate.
Optionally, the center-of-mass coordinate computation subunit is suitable for calculating the center-of-mass coordinate according to below equation：
Wherein, center-of-mass coordinate during x (t) and y (t) expressions time t, x (0) and y (0) are represented in the current position coordinates
Under center-of-mass coordinate, v (0), a (0) andCurrent vehicle speed, current acceleration and current course angle are represented respectively.
Optionally, the judging unit is suitable for：
Work as satisfactionAndWhen, judgement exists
The potential position of collision, wherein, x2mAnd y2mRepresent the position coordinates of m-th of angle point of second target vehicle, m for 1 to
4 natural number, represent respectively the front left of vehicle body, front right, rear left and rear right direction angle point；Represent the first object
The of vehicleThe position coordinates of a angle point,For 1 to 4 natural number, the front left, front right, rear left and rear of vehicle body are represented respectively
The angle point of right direction, x1h, y1hRepresent the position coordinates of h-th of angle point of the first object vehicle, ifOrThen h
=2 or h=4, ifOrThen h=1 or h=3.
Optionally, the prewarning unit is sending out early warning to the first object vehicle and/or second target vehicle
During information, also provide and suggest speed.
Optionally, the prewarning unit includes：
It is recommended that speed computation subunit, suitable for according to predefined priority rule, the first object vehicle with
The priority of second target vehicle；
Notify subelement, the target vehicle relatively low to priority sends out suggestion deceleration, and according to the threshold time
Calculate the suggestion speed.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that：
The embodiment of the present invention is by obtaining the information of vehicles of first object vehicle and the second target vehicle, according to the vehicle
Information judges the first object vehicle and the second target vehicle with the presence or absence of potential position of collision, when there are the potential collisions
During position, according to the information of vehicles of the first object vehicle and the second target vehicle calculate the first object vehicle with it is described
The running time that second target vehicle reaches the potential position of collision is poor, when the running time absolute value of the difference is less than or waits
When threshold time, warning information is sent out to the first object vehicle and/or second target vehicle, so as to pass through
The possibility of look-ahead collision reminds driver's unsafe condition that may be present in time, in the no signal that road conditions are poor
Intersection avoids the generation of real collision, improves the safety of driving.
Further, by the movement rail for the vehicle body angle point for predicting the first object vehicle and second target vehicle
Mark improves the accuracy of prediction to determine whether there are potential position of collision.
Description of the drawings
Fig. 1 is a kind of flow chart of vehicle collision prewarning method for roadside unit in the embodiment of the present invention；
Fig. 2 is flow chart of the another kind in the embodiment of the present invention for the vehicle collision prewarning method of roadside unit；
Fig. 3 is a kind of schematic diagram of a scenario of vehicle collision prewarning for roadside unit in the embodiment of the present invention；
Fig. 4 is a kind of structure diagram of vehicle collision prewarning device for roadside unit in the embodiment of the present invention；
Fig. 5 is structural representation of the another kind in the embodiment of the present invention for the vehicle collision prewarning device of roadside unit
Figure.
Specific embodiment
As previously mentioned, unsignalized intersection is the intersection type that traffic flow conflict contradiction is most concentrated, since no signal is handed over
Prong lacks necessary traffic sign and graticule, and road conditions are poor, and driver easily makes false judgment when passing through intersection
Or misoperation, so as to which there are security risks.Therefore, it is necessary to a kind of real-time anti-collision warning mechanism driver to be assisted to carry
The preceding unsafe condition for understanding unsignalized intersection, so as to take measures to avoid the generation of actual collision, promotes the safety of driving.
The roadside unit of the embodiment of the present invention is by obtaining the information of vehicles of first object vehicle and the second target vehicle, root
The first object vehicle and the second target vehicle are judged with the presence or absence of potential position of collision according to the information of vehicles, when there are institutes
When stating potential position of collision, the first object is calculated according to the information of vehicles of the first object vehicle and the second target vehicle
The running time that vehicle and second target vehicle reach the potential position of collision is poor, absolute when running time difference
When value is less than or equal to threshold time, warning information is sent out to the first object vehicle and/or second target vehicle, from
And driver's danger that may be present can be reminded by the possibility of look-ahead collision in time at unsignalized intersection
Situation avoids the generation of real collision, improves the safety of driving.
It is understandable for above-mentioned purpose, feature and advantageous effect of the invention is enable to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
Fig. 1 is a kind of flow chart of vehicle collision prewarning method for roadside unit in the embodiment of the present invention.Such as Fig. 1
The shown vehicle collision prewarning method for roadside unit, may comprise steps of.
Step S101：The information of vehicles of first object vehicle and the second target vehicle is obtained, the information of vehicles includes working as
Front position coordinate and current motion state information.
In specific implementation, the first object vehicle and second target vehicle detect whether exist for roadside unit
The two cars to collide.In specific implementation, each car has the identification number of oneself so that roadside unit can be identified constantly
With the vehicle in tracking collision detection.Roadside unit can be arranged at unsignalized intersection, and roadside unit can be based on bus or train route
Communication obtains the information of vehicles of two first object vehicles and the second target vehicle to be detected in real time, and the information of vehicles can
To include current position coordinates and current motion state information.Wherein, the current position coordinates can be that unified two dimension is straight
The position coordinates of angular coordinate, GPS coordinate or other coordinate-systems, for convenience of calculating, the current position coordinates of the present embodiment are
Same two-dimentional rectangular co-ordinate.
The current motion state information can include current vehicle speed, current acceleration and current course angle in one kind or
It is several.
Step S102：Judge the first object vehicle and the second target vehicle with the presence or absence of latent according to the information of vehicles
In position of collision.
It is described that the first object vehicle and second are judged according to the information of vehicles in the specific implementation of step S102
Target vehicle whether there is potential position of collision, can include：According to the current position coordinates and the current motion state
Information calculates the position coordinates for 4 angle points of vehicle body for obtaining the first object vehicle and second target vehicle respectively,
In, 4 angle points for vehicle body front left, front right, rear left and rear right direction vehicle body corner apex；According to the first object vehicle
And the position coordinates of 4 angle points of vehicle body of second target vehicle judge whether potential position of collision.When judgement is deposited
In the potential position of collision, step S103 is performed.
Step S103：When there are during the potential position of collision, according to the first object vehicle and the second target vehicle
Information of vehicles calculate the first object vehicle and reach the potential position of collision when driving with second target vehicle
Between it is poor.
Step S104：When the running time absolute value of the difference is less than or equal to threshold time, to the first object
Vehicle and/or second target vehicle send out warning information.
In specific implementation, the threshold time can carry out different settings as needed.
In specific implementation, roadside unit can be to the board units on first object vehicle A and/or the second target vehicle B
(On board Unit, OBU) sends the warning information.
In specific implementation, the warning information can be prompted by human-computer interaction interface to driver, early warning letter
Breath traveling can be voice picture and text etc., not be limited herein.
The present embodiment is by obtaining the information of vehicles of first object vehicle and the second target vehicle, according to the information of vehicles
The first object vehicle and the second target vehicle are judged with the presence or absence of potential position of collision, when there are the potential position of collision
When, the first object vehicle and described second is calculated according to the information of vehicles of the first object vehicle and the second target vehicle
The running time that target vehicle reaches the potential position of collision is poor, when the running time absolute value of the difference is less than or equal to threshold
When being worth the time, warning information is sent out to the first object vehicle and/or second target vehicle, so as in no signal
Driver's unsafe condition that may be present is reminded in intersection in time by the possibility that look-ahead collides, and avoids really touching
The generation hit improves the safety of driving.
Further, by the movement rail for the vehicle body angle point for predicting the first object vehicle and second target vehicle
Mark improves the accuracy of prediction to determine whether there are potential position of collision.
With reference to Fig. 2 and Fig. 3 to a kind of vehicle collision prewarning method for roadside unit in the embodiment of the present invention
It is described in detail.
In Fig. 3, in no signal intersection, first object vehicle A and the second target vehicle B are for roadside unit is to be detected
The no two cars with collision.By following steps, the first object vehicle A and second target can be predicted
Whether vehicle B collides.
Fig. 2 shows a kind of vehicle collision prewarning methods for roadside unit in the embodiment of the present invention.As shown in Figure 2
The vehicle collision prewarning method for roadside unit, may comprise steps of.
Step S201：The information of vehicles of first object vehicle and the second target vehicle is obtained, the information of vehicles includes working as
Front position coordinate and current motion state information.
In specific implementation, when the first object vehicle A and the second target vehicle B drive into the road roadside unit institute
During the communication context of covering, start to obtain the information of vehicles.In the present embodiment, the current position coordinates are two-dimentional right angle
Coordinate, the current motion state information include current vehicle speed, current acceleration and current course angle.
Step S202：Judge whether the first object vehicle and second target vehicle are deposited according to the information of vehicles
In potential position of collision.
In the present embodiment, it according to the current position coordinates and the current motion state information, calculates obtain respectively
The position coordinates of 4 angle points of vehicle body of the first object vehicle and second target vehicle, wherein, with reference to shown in Fig. 3, institute
State 4 angle points for vehicle body front left, front right, rear left and rear right direction vehicle body corner apex 1,2,3 and 4；According to first mesh
The position coordinates for marking 4 angle points of vehicle body of vehicle A and the second target vehicle B judge whether potential position of collision.
It, can be first according to the current position coordinates and the current motion state information point in the present embodiment implementation
The center-of-mass coordinate of the first object vehicle and second target vehicle is not calculated, further according to the first object vehicle and
Center-of-mass coordinate, vehicle body length and the width of two target vehicles calculate the first object vehicle and second target vehicle respectively
The position coordinates of 4 angle points of vehicle body.
Specifically, formula can be usedCalculate the position of the angle point
Coordinate, wherein, Znm=(xnm,ynm) representing position coordinates of the identification number for m-th of angle point of the vehicle of n, m is 1 to 4 nature
Number, respectively the corresponding front left for representing vehicle body, front right, rear left and rear right direction angle point,WhereinRepresent the course angle for the vehicle that identification number is n, K1=[L-W]T, K2=[L W]T, K3=[- L W]T, K4=[- L-W]T, L
Length, W for vehicle body are the width of vehicle body, (xn0,yn0) it is the center-of-mass coordinate.
Above-mentioned center-of-mass coordinate (xn0,yn0) obtained according to below equation：
Wherein, center-of-mass coordinate during x (t) and y (t) expressions time t, x (0) and y (0) are represented in the current position coordinates
Under center-of-mass coordinate, v (0), a (0) andCurrent vehicle speed, current acceleration and current course angle are represented respectively.
Work as satisfactionAndWhen, exist described
Potential position of collision, wherein, x2mAnd y2mRepresent the position coordinates of m-th of angle point of second target vehicle, m is 1 to 4
Natural number, represent respectively the front left of vehicle body, front right, rear left and rear right direction angle point；Represent the first object vehicle
The position coordinates of a angle point,For 1 to 4 natural number, front left, front right, the rear left and rear right of vehicle body are represented respectively
The angle point in direction, x1h, y1hRepresent the position coordinates of h-th of angle point of the first object vehicle, ifOrThen h=
2 or h=4, ifOrThen h=1 or h=3.The potential position of collision refers to described in the present embodiment
The position that one target vehicle A and the second target vehicle B may collide.
In specific calculating process, it can first assume that the first object vehicle A and the second target vehicle B can occur
Collision, then meet equation：When the occurrence for using the equation that can solve collision time, judgement
There are the potential position of collision, if the equation, without solution, there is no the potential position of collision for judgement.
Through step S202 judgements there are during the potential position of collision, step S203 is performed.
Step S203：When there are during the potential position of collision, according to the first object vehicle and the second target vehicle
Information of vehicles calculate the first object vehicle and reach the potential position of collision when driving with second target vehicle
Between it is poor.
Fig. 3 shows that there are the potential position of collision (Xc,Yc) scene, in specific implementation, calculated from roadside unit
There are the potential position of collision (X by the first object vehicle A and the second target vehicle Bc,Yc) start, the trackside list
Member calculates described first respectively according to the position coordinates of the collected first object vehicle A and the second target vehicle B
Target vehicle A and the second target vehicle B to the potential position of collision (Xc,Yc) distance SAAnd SB, and according to acquisition institute
State the present speed V of first object vehicle A during first object vehicle A current locationsA, use formula tA=SA/VAIt calculates and works as
First object vehicle A described in the preceding moment reaches the potential position of collision (Xc,Yc) time tA, similarly, according to acquisition
The present speed V of second target vehicle B described in during the second target vehicle B current locationsB, use formula tB=SB/VBDescribed in calculating
Second target vehicle B described in current time reaches the potential position of collision (Xc,Yc) time tB, then the traveling can be calculated
Time difference.
In specific implementation, multiple movement state informations can also be once acquired at current time, obtain described first
The position sequence and travel speed sequence of target vehicle A and the second target vehicle B, and the corresponding position using in sequence is sat
Mark and travel speed are calculated.
Step S204：When the running time absolute value of the difference is less than or equal to threshold time, according to predefined excellent
The priority of the first grade rule first object vehicle and second target vehicle.
In the present embodiment, the threshold time takes 2~4s, preferably 3s, as the running time difference tA-tBIt is absolute
When value is less than or equal to 3s, judge that the first object vehicle and second target vehicle can collide.
In the present embodiment, the predefined priority rule includes priority, the priority of road of vehicle class
And the priority being defined according to traffic passing rules.
For example, priority can be defined according to the grade of vehicle, perform task ambulance, police car and fire fighting truck this
Class special car has absolute right-of-way, and any vehicle will avoid, and give way main road on the lane priority Ji Weici roads,
Traffic passing rules are the passing rules according to traffic safety traffic method defined.
Step S205：It is provided to the relatively low first object vehicle of priority or second target vehicle and suggests vehicle
Speed.
By above-mentioned predefined priority rule, it can compare and obtain the first object vehicle A and second mesh
Mark that priority in vehicle B is higher and the relatively low vehicle of priority.To the relatively low first object vehicle of priority or described
Two target vehicles send out suggestion deceleration, and are calculated according to the threshold time and suggest speed, and the suggestion speed isWherein V ' is the suggestion speed, and P is the threshold time, described when the threshold time takes 3s
It is recommended that speed isSAAnd SBRespectively described first object vehicle A and the second target vehicle B is to described
Potential position of collision (Xc,Yc) distance.
The present embodiment is by obtaining the information of vehicles of first object vehicle and the second target vehicle, according to the information of vehicles
The first object vehicle and the second target vehicle are judged with the presence or absence of potential position of collision, when there are the potential position of collision
When, the first object vehicle and described second is calculated according to the information of vehicles of the first object vehicle and the second target vehicle
The running time that target vehicle reaches the potential position of collision is poor, when the running time absolute value of the difference is less than or equal to threshold
When being worth the time, warning information is sent out to the first object vehicle and/or second target vehicle, so as in no signal
Driver's unsafe condition that may be present is reminded in intersection in time by the possibility that look-ahead collides, and avoids really touching
The generation hit improves the safety of driving.
Further, by the movement rail for the vehicle body angle point for predicting the first object vehicle and second target vehicle
Mark improves the accuracy of prediction to determine whether there are potential position of collision.
Further, the present embodiment passes through pre-set priority, the first object vehicle and second target carriage
Priority, provide the suggestion speed to the relatively low vehicle of priority, the vehicle to slow down for actual needs provides prevention
The speed reference of vehicle collision, improves the safety of driving.
Fig. 4 is a kind of structure diagram of vehicle collision prewarning device for roadside unit in the embodiment of the present invention.
The roadside unit is set at unsignalized intersection, the vehicle collision prewarning device 40 for roadside unit as shown in Figure 4,
It can include：Acquiring unit 401, judging unit 402, running time difference computing unit 403 and prewarning unit 404.Wherein：
The acquiring unit 401, suitable for obtaining the information of vehicles of first object vehicle and the second target vehicle, the vehicle
Information includes current position coordinates and current motion state information；
The judging unit 402, suitable for judging the first object vehicle and the second target carriage according to the information of vehicles
Whether there is potential position of collision；
The running time difference computing unit 403, suitable for when there are during the potential position of collision, according to first mesh
The information of vehicles for marking vehicle and the second target vehicle is calculated described in the first object vehicle and second target vehicle arrival
The running time of potential position of collision is poor；
The prewarning unit 404, suitable for when the running time absolute value of the difference be less than or equal to threshold time when, to institute
It states first object vehicle and/or second target vehicle sends out warning information.
In specific implementation, the judging unit 402 can include judgement of angular coordinate computing unit 4021 and first
Unit 4022.Wherein：
The angular coordinate computing unit 4021, suitable for according to the current position coordinates and current motion state letter
Breath calculates the position coordinates for 4 angle points of vehicle body for obtaining the first object vehicle and second target vehicle respectively,
In, 4 angle points for vehicle body front left, front right, rear left and rear right direction vehicle body corner apex；
First judgment sub-unit 4022, suitable for the vehicle according to the first object vehicle and second target vehicle
The position coordinates of 4 angle points of body judge whether potential position of collision.
In specific implementation, the current motion state information can include following one or more：It is current vehicle speed, current
Acceleration and current course angle.
In specific implementation, the threshold time is 2~4s.
In specific implementation, the angular coordinate computing unit 4021 can include center-of-mass coordinate computation subunit and angle point
Coordinate computation subunit.Wherein：
The center-of-mass coordinate computation subunit, suitable for calculating the first object vehicle and second target vehicle respectively
Center-of-mass coordinate；
The angular coordinate computation subunit, suitable for according to the center-of-mass coordinate, the first object vehicle and/or second
The vehicle body length and width of target vehicle calculate 4 angle points of vehicle body of the first object vehicle and/or second target vehicle
Position coordinates.
In specific implementation, in the position coordinates for calculating the angle point, the angular coordinate computation subunit is suitable for：
Use formulaThe position coordinates of the angle point are calculated, wherein, Znm
=(xnm,ynm) representing the position coordinates of m-th of angle point that number is n, m is 1 to 4 natural number, corresponds to represent vehicle body respectively
Front left, front right, rear left and rear right direction angle point, Represent the boat for the vehicle that identification number is n
To angle, K1=[L-W]T, K2=[L W]T, K3=[- L W]T, K4=[- L-W]T, L is the length of vehicle body, W is vehicle body width,
(xn0,yn0) it is the center-of-mass coordinate.
In specific implementation, the center-of-mass coordinate computation subunit is suitable for calculating the center-of-mass coordinate according to below equation：
Wherein, wherein, x (t) and y (t) represents center-of-mass coordinate during time t, and x (0) and y (0) are represented in the present bit
Put the center-of-mass coordinate under coordinate, v (0), a (0) andCurrent vehicle speed, current acceleration and current course angle are represented respectively.
In specific implementation, the judging unit 402 is suitable for：
Work as satisfactionWhen, exist described
Potential position of collision, wherein, x2mAnd y2mRepresent the position coordinates of m-th of angle point of second target vehicle, m is 1 to 4
Natural number, represent respectively the front left of vehicle body, front right, rear left and rear right direction angle point；Represent the first object vehicle
The position coordinates of a angle point,For 1 to 4 natural number, the front left, front right, rear left and rear right side of vehicle body are represented respectively
To angle point, x1h, y1hRepresent the position coordinates of h-th of angle point of the first object vehicle, ifOrThen h=2
Or h=4, ifOrThen h=1 or h=3.
The present embodiment is by obtaining the information of vehicles of first object vehicle and the second target vehicle, according to the information of vehicles
The first object vehicle and the second target vehicle are judged with the presence or absence of potential position of collision, when there are the potential position of collision
When, the first object vehicle and described second is calculated according to the information of vehicles of the first object vehicle and the second target vehicle
The running time that target vehicle reaches the potential position of collision is poor, when the running time absolute value of the difference is less than or equal to threshold
When being worth the time, warning information is sent out to the first object vehicle and/or second target vehicle, so as in no signal
Driver's unsafe condition that may be present is reminded in intersection in time by the possibility that look-ahead collides, and avoids really touching
The generation hit improves the safety of driving.
Further, by the movement rail for the vehicle body angle point for predicting the first object vehicle and second target vehicle
Mark improves the accuracy of prediction to determine whether there are potential position of collision.
Fig. 5 is a kind of structure diagram of vehicle collision prewarning device for roadside unit in the embodiment of the present invention.
Vehicle collision prewarning device 50 for roadside unit as shown in Figure 5, can include：Acquiring unit 501, judging unit 502,
Running time difference computing unit 503 and prewarning unit 504.
In specific implementation, the prewarning unit 504 can also include suggesting speed computation subunit 5041 and notice
Unit 5042.Wherein, the suggestion sub- computing unit 5041 of speed, suitable for according to predefined priority rule, relatively described in
The priority of first object vehicle and second target vehicle；The notice subelement 5042, suitable for relatively low to priority
Target vehicle sends out suggestion deceleration, and is calculated according to the threshold time and suggest speed.
In addition to the speed computation subunit 5041 and the notice subelement 5042, the acquiring unit of the present embodiment
501st, judging unit 502, angular coordinate computing unit 5021, the first judgment sub-unit 5022, running time difference computing unit 503
It can be to should refer to the acquiring unit 401, judging unit 402, angular coordinate computing unit 4021, first with prewarning unit 504
The description of judgment sub-unit 4022, running time difference computing unit 403 and prewarning unit 404, details are not described herein.
The present embodiment is by obtaining the information of vehicles of first object vehicle and the second target vehicle, according to the information of vehicles
The first object vehicle and the second target vehicle are judged with the presence or absence of potential position of collision, when there are the potential position of collision
When, the first object vehicle and described second is calculated according to the information of vehicles of the first object vehicle and the second target vehicle
The running time that target vehicle reaches the potential position of collision is poor, when the running time absolute value of the difference is less than or equal to threshold
When being worth the time, warning information is sent out to the first object vehicle and/or second target vehicle, so as in no signal
Driver's unsafe condition that may be present is reminded in intersection in time by the possibility that look-ahead collides, and avoids really touching
The generation hit improves the safety of driving.
Further, by the movement rail for the vehicle body angle point for predicting the first object vehicle and second target vehicle
Mark improves the accuracy of prediction to determine whether there are potential position of collision.
Further, the present embodiment passes through pre-set priority, the first object vehicle and second target carriage
Priority, provide the suggestion speed to the relatively low vehicle of priority, the vehicle to slow down for actual needs provides prevention
The speed reference of vehicle collision, improves the safety of driving.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in computer readable storage medium, to store
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (20)
1. a kind of vehicle collision prewarning method for roadside unit, which is characterized in that the roadside unit is set to no signal
Intersection, the method includes：
The information of vehicles of first object vehicle and the second target vehicle is obtained, the information of vehicles includes current position coordinates and works as
Preceding movement state information；
Judge that the first object vehicle and second target vehicle whether there is potential collision bit according to the information of vehicles
It puts；
When there are during the potential position of collision, being calculated according to the information of vehicles of the first object vehicle and the second target vehicle
The running time that the first object vehicle reaches the potential position of collision with second target vehicle is poor；
When the running time absolute value of the difference is less than or equal to threshold time, to the first object vehicle and/or described
Second target vehicle sends out warning information.
2. the vehicle collision prewarning method according to claim 1 for roadside unit, which is characterized in that
It is described to judge that the first object vehicle and second target vehicle are touched with the presence or absence of potential according to the information of vehicles
Position is hit to include：
According to the current position coordinates and the current motion state information, calculate respectively obtain the first object vehicle and
The position coordinates of 4 angle points of vehicle body of second target vehicle, wherein, 4 angle points are vehicle body front left, front right, rear left
With the vehicle body corner apex of rear right direction；
It is judged whether according to the position coordinates of the first object vehicle and 4 angle points of vehicle body of second target vehicle
Potential position of collision.
3. the vehicle collision prewarning method according to claim 1 for roadside unit, which is characterized in that
The current motion state information includes following one or more：
Current vehicle speed, current acceleration and current course angle.
4. the vehicle collision prewarning method according to claim 1 for roadside unit, which is characterized in that
The threshold time is 2~4s.
5. the vehicle collision prewarning method according to claim 2 for roadside unit, which is characterized in that
It is described according to the current position coordinates and the current motion state information, calculate obtain the first object vehicle respectively
And second target vehicle 4 angle points of vehicle body position coordinates, including：
The first object vehicle and described is calculated according to the current position coordinates and the current motion state information respectively
The center-of-mass coordinate of second target vehicle；
According to the first object vehicle and center-of-mass coordinate, vehicle body length and the width of the second target vehicle, described first is calculated respectively
The position coordinates of 4 angle points of vehicle body of target vehicle and second target vehicle.
6. the vehicle collision prewarning method according to claim 5 for roadside unit, which is characterized in that
It is described according to the first object vehicle and center-of-mass coordinate, vehicle body length and the width of second target vehicle, calculate respectively
The position coordinates of 4 angle points of vehicle body of the first object vehicle and second target vehicle, including：
Use formulaThe position coordinates of the angle point are calculated, wherein, Znm=
(xnm,ynm) representing position coordinates of the identification number for m-th of angle point of the vehicle of n, m is 1 to 4 natural number, corresponding respectively to represent
The front left of vehicle body, front right, rear left and rear right direction angle point,WhereinExpression identification number is n
Vehicle course angle, K1=[L-W]T, K2=[L W]T, K3=[- L W]T, K4=[- L-W]T, L is the length of vehicle body, W is vehicle
The width of body, (xn0,yn0) it is the center-of-mass coordinate.
7. the vehicle collision prewarning method according to claim 6 for roadside unit, which is characterized in that
The center-of-mass coordinate is obtained according to below equation：
Wherein, center-of-mass coordinate during x (t) and y (t) expressions time t, x (0) and y (0) are represented under the current position coordinates
Center-of-mass coordinate, v (0), a (0) andCurrent vehicle speed, current acceleration and current course angle are represented respectively.
8. the vehicle collision prewarning method according to claim 3 for roadside unit, which is characterized in that
The Angle Position coordinate according to the first object vehicle and 4 angles of vehicle body of second target vehicle judges whether
There are potential position of collision, including：
Work as satisfactionAndWhen, there are described latent for judgement
In position of collision, wherein, x2mAnd y2mRepresent the position coordinates of m-th of angle point of second target vehicle, m is oneself of 1 to 4
So number, represent respectively the front left of vehicle body, front right, rear left and rear right direction angle point；Represent the first object vehicle
The position coordinates of a angle point,For 1 to 4 natural number, the front left, front right, rear left and rear right direction of vehicle body are represented respectively
Angle point, x1h, y1hRepresent the position coordinates of h-th of angle point of the first object vehicle, ifOrThen h=2 or h
=4, ifOrThen h=1 or h=3.
9. the vehicle collision prewarning method according to claim 1 for roadside unit, which is characterized in that described first
When target vehicle and/or second target vehicle send out warning information, also provide and suggest speed.
10. the vehicle collision prewarning method according to claim 9 for roadside unit, which is characterized in that
Described provide suggests speed, including：
According to predefined priority rule, the priority of the first object vehicle and second target vehicle；
Suggestion deceleration is sent out, and according to institute to the relatively low first object vehicle of priority or second target vehicle
It states threshold time and calculates and suggest speed.
11. a kind of vehicle collision prewarning device for roadside unit, which is characterized in that the roadside unit is set to no signal
Intersection, described device include：
Acquiring unit, obtains the information of vehicles of first object vehicle and the second target vehicle, and the information of vehicles includes present bit
Put coordinate and current motion state information；
Judging unit, suitable for judging the first object vehicle and the second target vehicle with the presence or absence of latent according to the information of vehicles
In position of collision；
Running time difference computing unit, suitable for when there are during the potential position of collision, according to the first object vehicle and
The information of vehicles of two target vehicles calculates the first object vehicle and reaches the potential collision bit with second target vehicle
The running time put is poor；
Prewarning unit, suitable for when the running time absolute value of the difference be less than or equal to threshold time when, to the first object
Vehicle and/or second target vehicle send out warning information.
12. the vehicle collision prewarning device according to claim 11 for roadside unit, which is characterized in that
The judging unit includes：Angular coordinate computing unit and the first judgment sub-unit；
The angular coordinate computing unit, suitable for according to the current position coordinates and the current motion state information, difference
The position coordinates for 4 angle points of vehicle body for obtaining the first object vehicle and second target vehicle are calculated, wherein, described 4
A angle point for vehicle body front left, front right, rear left and rear right direction vehicle body corner apex；
First judgment sub-unit, suitable for 4 angles of vehicle body according to the first object vehicle and second target vehicle
The position coordinates of point judge whether potential position of collision.
13. the vehicle collision prewarning device according to claim 11 for roadside unit, which is characterized in that described current
Movement state information includes following one or more：
Current vehicle speed, current acceleration and current course angle.
14. the vehicle collision prewarning device according to claim 11 for roadside unit, which is characterized in that the threshold value
Time is 2~4s.
15. the vehicle collision prewarning device according to claim 12 for roadside unit, which is characterized in that the angle point
Coordinate calculating unit includes：
Center-of-mass coordinate computation subunit is sat suitable for calculating the barycenter of the first object vehicle and second target vehicle respectively
Mark；
Angular coordinate computation subunit, suitable for according to the center-of-mass coordinate, the first object vehicle and/or the second target vehicle
Vehicle body length and width, calculate the first object vehicle and/or second target vehicle 4 angle points of vehicle body position sit
Mark.
16. the vehicle collision prewarning device according to claim 15 for roadside unit, which is characterized in that the angle point
Coordinate computation subunit uses formulaThe position coordinates of the angle point are calculated,
Wherein, Znm=(xnm,ynm) representing the position coordinates of m-th of angle point that number is n, m is 1 to 4 natural number, corresponds to table respectively
Show the front left of vehicle body, front right, rear left and rear right direction angle point,It is n's to represent identification number
The course angle of vehicle, K1=[L-W]T, K2=[L W]T, K3=[- L W]T, K4=[- L-W]T, L is the length of vehicle body, W is vehicle body
Width, (xn0,yn0) it is the center-of-mass coordinate.
17. the vehicle collision prewarning device according to claim 16 for roadside unit, which is characterized in that the barycenter
Coordinate computation subunit is suitable for calculating the center-of-mass coordinate according to below equation：
Wherein, center-of-mass coordinate during x (t) and y (t) expressions time t, x (0) and y (0) are represented under the current position coordinates
Center-of-mass coordinate, v (0), a (0) andCurrent vehicle speed, current acceleration and current course angle are represented respectively.
18. the vehicle collision prewarning device according to claim 13 for roadside unit, which is characterized in that the judgement
Unit is suitable for：
Work as satisfactionAndWhen, there are described latent for judgement
In position of collision, wherein, x2mAnd y2mRepresent the position coordinates of m-th of angle point of second target vehicle, m is oneself of 1 to 4
So number, represent respectively the front left of vehicle body, front right, rear left and rear right direction angle point；Represent the first object vehicle
The position coordinates of a angle point,For 1 to 4 natural number, the front left, front right, rear left and rear right side of vehicle body are represented respectively
To angle point, x1h, y1hRepresent the position coordinates of h-th of angle point of the first object vehicle, ifOrThen h=2
Or h=4, ifOrThen h=1 or h=3.
19. the vehicle collision prewarning device according to claim 11 for roadside unit, which is characterized in that the early warning
Unit also provides when sending out warning information to the first object vehicle and/or second target vehicle and suggests speed.
20. the vehicle collision prewarning device according to claim 19 for roadside unit, which is characterized in that the early warning
Unit includes：
It is recommended that speed computation subunit, suitable for according to predefined priority rule, the first object vehicle with it is described
The priority of second target vehicle；
Notify subelement, the target vehicle relatively low to priority sends out suggestion deceleration, and is calculated according to the threshold time
The suggestion speed.
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| CN201611236383.8A CN108257417A (en) | 2016-12-28 | 2016-12-28 | For the vehicle collision prewarning method and device of roadside unit |
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| CN201611236383.8A CN108257417A (en) | 2016-12-28 | 2016-12-28 | For the vehicle collision prewarning method and device of roadside unit |
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| CN115457783B (en) * | 2022-08-30 | 2023-08-11 | 重庆长安汽车股份有限公司 | Traffic, cooperation and cooperation method and system for intersection without signal lamp |
| CN115497338A (en) * | 2022-10-17 | 2022-12-20 | 中国第一汽车股份有限公司 | System, method and device for early warning blind areas of auxiliary road intersection |
| CN115497338B (en) * | 2022-10-17 | 2024-03-15 | 中国第一汽车股份有限公司 | Blind zone early warning system, method and device for auxiliary road intersection |
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